Hanging rail robot for transformer substation inspection

Abstract

The utility model relates to the technical field of automation, and discloses an overhead rail robot for transformer substation inspection, which comprises two support columns, a rail is fixedly mounted between the support columns, and a clamping adjusting component is arranged on the surface of the rail. The clamping adjusting assembly is arranged and can be fixed to rails of different specifications, when the clamping adjusting assembly needs to be fixed to the rails of different widths, the double-end motor is started to drive the lead screw to rotate, the T-shaped threaded block is further driven to move, the groove plate is attached to the rails, and when the clamping adjusting assembly needs to be fixed to the rails of different heights, the clamping adjusting assembly is fixed to the rails of different heights. A hydraulic rod is started to drive a sliding plate and a T-shaped sliding plate to descend, a second concave clamping plate and a second limiting wheel are further driven to be in linkage, the top of the rail is attached, a first limiting wheel at the bottom is attached to the bottom of the rail, the universality of the robot is greatly improved, the robot does not need to be independently designed for each rail specification, and the equipment cost and management difficulty are reduced; therefore, the effect of clamping adjustment is achieved.

Description

Technical Field

[0001] This utility model relates to the field of automation technology, specifically to a rail-mounted robot for substation inspection. Background Technology

[0002] Entering the 21st century, with the proposal and development of the smart grid concept, substations, as key nodes of the smart grid, have ushered in new technological innovations. Smart substations, based on traditional substations, adopt advanced digital and information technologies. For example, by installing intelligent electronic devices within the substation, intelligent functions such as power equipment status monitoring and fault diagnosis are realized. These IED devices can communicate with each other through a network, forming an intelligent monitoring and control system. Modern substations are also constantly introducing new technologies, such as power electronics technology for flexible AC transmission equipment, which can effectively control power flow, improve grid stability and power quality. At the same time, in the construction and operation of substations, greater emphasis is placed on environmental protection and sustainable development, such as using new insulation materials and optimizing substation layout to reduce electromagnetic radiation. The role of substations in modern power systems is becoming increasingly crucial, and their technology is constantly evolving.

[0003] In the existing technology, during the daily operation of a substation, a rail-mounted robot regularly inspects various equipment within the substation along a preset track. However, existing rail-mounted robots cannot automatically adjust the clamping force according to different specifications of rails, resulting in the robot being unable to run on rails of different diameters. Furthermore, when a fire occurs, the rail-mounted robot cannot extinguish the fire source in a timely manner, leading to the spread of the fire.

[0004] Therefore, a rail-mounted robot for substation inspection was proposed. Utility Model Content

[0005] The purpose of this invention is to provide a rail-mounted robot for substation inspection, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a rail-mounted robot for substation inspection, comprising two support columns, a track fixedly installed between the support columns, a clamping and adjusting assembly on the surface of the track, a robot on the surface of the clamping and adjusting assembly, and a fire extinguishing assembly on the surface of the robot.

[0007] Preferably, the clamping adjustment assembly specifically includes: a perforated plate disposed at the bottom of the track; T-shaped grooves equidistantly formed at the top of the perforated plate; and a double-ended motor fixedly installed between the inner walls of the perforated plate.

[0008] Preferably, the bottom of the hollow plate is fixedly connected to the top of the robot, the output end of the dual-end motor is fixedly mounted with a rotating shaft, the other end of the rotating shaft movably penetrates the inner wall surface of the hollow plate and extends into the interior of the T-shaped groove, the other end of the rotating shaft is fixedly mounted with a lead screw, the outer wall of the lead screw is threadedly connected with a T-shaped threaded block, and the outer wall of the T-shaped threaded block is slidably connected to the inner wall of the T-shaped groove.

[0009] Preferably, the top of the T-shaped threaded block extends to the top of the hollow plate, and a grooved plate is fixedly installed on the top of the T-shaped threaded block. The inner side of the grooved plate contacts one side of the track. A concave clamping plate is fixedly installed at equal intervals on the inner side of the grooved plate. A limiting wheel is movably installed between the inner walls of the concave clamping plate, and the surface of the limiting wheel contacts the bottom of the track.

[0010] Preferably, the inner side of the grooved plate is provided with a sliding groove, and a hydraulic rod is fixedly installed at the bottom of the inner wall of the grooved plate. A sliding plate is fixedly installed at the telescopic end of the hydraulic rod. The outer wall of the sliding plate is slidably connected to the inner wall of the grooved plate. A T-shaped sliding plate is provided on the inner side of the grooved plate. One side of the T-shaped sliding plate passes through the interior of the sliding groove and extends into the interior of the grooved plate, and is fixedly connected to one side of the sliding plate. The surface of the T-shaped sliding plate is slidably connected to the inner wall of the sliding groove. A second concave clamp plate is fixedly installed at equal intervals on the other side of the T-shaped sliding plate. A second limiting wheel is movably installed between the inner walls of the second concave clamp plate. The surface of the second limiting wheel is in contact with the top of the track. Through the cooperation between the double-end motor, the lead screw, the T-shaped threaded block, and the grooved plate, it can be fixed on tracks of different widths. Through the cooperation between the first concave clamp plate, the first limiting wheel, the sliding groove, the hydraulic rod, the sliding plate, the T-shaped sliding plate, the second concave clamp plate, and the second limiting wheel, it can be fixed on tracks of different heights to meet the installation requirements of tracks of different specifications, and ultimately achieve the effect of clamping and adjustment.

[0011] Preferably, the fire extinguishing assembly specifically includes: an infrared thermal imaging sensor, equidistantly fixedly installed on the surface of the robot; a controller, fixedly installed on the surface of the robot; a hollow box, fixedly installed on both sides of the robot; a rotating rod, rotatably connected between the inner walls of the hollow box; a mounting plate, fixedly installed on one side of the inner wall of the hollow box; a dry powder storage box, fixedly installed between the inner walls of the hollow box; and a motor, fixedly installed on the inner wall surface of the hollow box.

[0012] Preferably, a worm gear sleeve is fixedly sleeved on the outer wall of the rotating rod, a collar is fixedly sleeved on the outer wall of the rotating rod, a nozzle is fixedly installed on the outer wall of the collar, a miniature high-pressure pump is fixedly installed on the surface of the mounting plate, and a connecting pipe is connected to one side of the miniature high-pressure pump.

[0013] Preferably, one end of the first connecting pipe is connected to one side of the dry powder storage box, and the other side of the micro high-pressure pump is connected to a second connecting pipe. The other end of the second connecting pipe is connected to the top of the nozzle. A worm gear is fixedly installed at the output end of the motor, and the surface of the worm gear meshes with the surface of the worm wheel sleeve. The temperature and specific location of the equipment are captured by the cooperation between the infrared thermal imaging sensor and the controller. When the set threshold is reached, the micro high-pressure pump and the motor are started by the controller. The fire source can be extinguished by the cooperation between the dry powder storage box, the first connecting pipe, the micro high-pressure pump, the second connecting pipe, and the nozzle. The nozzle angle is adjusted by the cooperation between the motor, the worm gear, the rotating rod, the worm wheel sleeve, and the collar, so as to accurately spray the fire source and ultimately achieve the effect of extinguishing the fire.

[0014] This invention provides a rail-mounted robot for substation inspection. It offers the following advantages:

[0015] (1) This utility model can be fixed on tracks of different specifications by setting a clamping adjustment component. When it needs to be fixed on tracks of different widths, the double-end motor is started to drive the lead screw to rotate, which further drives the T-shaped threaded block to move, so that the groove plate fits with the track. When it needs to be fixed on tracks of different heights, the hydraulic rod is started to drive the slide plate and T-shaped slide plate to descend, which further drives the concave clamp plate and the limit wheel to move together, fitting the top of the track, and the bottom limit wheel fits with the bottom of the track. It is compatible with a variety of track specifications, which greatly improves the versatility of the robot. There is no need to design a robot separately for each track specification, which reduces equipment costs and management difficulty, thereby achieving the effect of clamping adjustment.

[0016] (2) This utility model can extinguish fires by setting fire extinguishing components. The infrared thermal imaging sensor can clearly capture the location and shape of the heat source. When the set threshold is reached, the information is sent to the controller. The controller starts the micro high-pressure pump and motor. The micro high-pressure pump extracts dry powder from the dry powder storage box. The motor drives the worm gear to rotate, which in turn drives the worm wheel sleeve, rotating rod and collar to rotate. Finally, the nozzle accurately sprays the heat source, which can effectively curb the spread of fire and reduce the damage of fire to substation equipment and building structure, thereby achieving the effect of fire extinguishing. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the cross-sectional structure of the perforated plate of this utility model;

[0019] Figure 3 This is a partial structural diagram of the clamping and adjusting component of this utility model;

[0020] Figure 4 This is a partial structural diagram of the fire extinguishing component of this utility model;

[0021] Figure 5 This is a schematic diagram of the cross-sectional structure of the hollow box of this utility model.

[0022] In the diagram: 1. Support column, 2. Track, 3. Clamping and adjusting assembly, 311. Hollow plate, 312. T-slot, 313. Double-end motor, 314. Lead screw, 315. T-shaped threaded block, 316. Groove plate, 317. Concave clamping plate one, 318. Limiting wheel one, 319. Slide groove, 3111. Hydraulic rod, 3112. Slide plate, 3113. T-shaped slide plate, 3114. Concave clamping plate two, 3115. Limiting wheel two, 4. Robot, 5. Fire extinguishing assembly, 511. Infrared thermal imaging sensor, 512. Controller, 513. Hollow box, 514. Rotating rod, 515. Worm gear sleeve, 516. Collar, 517. Nozzle, 518. Mounting plate, 519. Miniature high-pressure pump, 5111. Dry powder storage box, 5112. Connecting pipe one, 5113. Connecting pipe two, 5114. Motor, 5115. Worm gear. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0025] Example 1:

[0026] A preferred embodiment of the overhead rail robot for substation inspection provided by this utility model is, for example... Figure 1-5 As shown: A rail-mounted robot for substation inspection includes two support columns 1 and a rail 2 fixedly installed between them. A clamping and adjusting assembly 3 is provided on the surface of the rail 2, and a robot 4 is provided on the surface of the clamping and adjusting assembly 3. A fire extinguishing assembly 5 is provided on the surface of the robot 4.

[0027] The clamping and adjusting assembly 3 specifically includes: a perforated plate 311, which is set at the bottom of the track 2; a T-shaped groove 312, which is equidistantly opened at the top of the perforated plate 311; and a double-ended motor 313, which is fixedly installed between the inner walls of the perforated plate 311.

[0028] The bottom of the hollow plate 311 is fixedly connected to the top of the robot 4. A rotating shaft is fixedly installed at the output end of the double-ended motor 313. The other end of the rotating shaft moves through the inner wall surface of the hollow plate 311 and extends into the interior of the T-shaped groove 312. A lead screw 314 is fixedly installed at the other end of the rotating shaft. A T-shaped threaded block 315 is threadedly connected to the outer wall of the lead screw 314. The outer wall of the T-shaped threaded block 315 is slidably connected to the inner wall of the T-shaped groove 312.

[0029] The top of the T-shaped threaded block 315 extends to the top of the hollow plate 311. A grooved plate 316 is fixedly installed on the top of the T-shaped threaded block 315. The inner side of the grooved plate 316 contacts one side of the track 2. A concave clamping plate 317 is fixedly installed at equal intervals on the inner side of the grooved plate 316. A limiting wheel 318 is movably installed between the inner walls of the concave clamping plate 317. The surface of the limiting wheel 318 contacts the bottom of the track 2.

[0030] The inner side of the grooved plate 316 is connected to a sliding groove 319. A hydraulic rod 3111 is fixedly installed at the bottom of the inner wall of the grooved plate 316. A sliding plate 3112 is fixedly installed at the telescopic end of the hydraulic rod 3111. The outer wall of the sliding plate 3112 is slidably connected to the inner wall of the grooved plate 316. A T-shaped sliding plate 3113 is provided on the inner side of the grooved plate 316. One side of the T-shaped sliding plate 3113 passes through the interior of the sliding groove 319 and extends into the interior of the grooved plate 316, and is fixedly connected to one side of the sliding plate 3112. The surface of the T-shaped sliding plate 3113 is slidably connected to the inner wall of the sliding groove 319. A concave clamp plate 3114 is fixedly installed at equal intervals on the other side of the T-shaped sliding plate 3113. A limiting wheel 3115 is movably installed between the inner walls of the concave clamp plate 3114. The surface of the limiting wheel 3115 is in contact with the top of the track 2.

[0031] In this example, the clamping adjustment component 3 can be fixed on tracks of different specifications. When it is necessary to fix it on tracks of different widths, the double-end motor 313 is started to drive the lead screw 314 to rotate, which in turn drives the T-shaped threaded block 315 to move, so that the groove plate 316 fits with the track 2. When it is necessary to fix it on tracks of different heights, the hydraulic rod 3111 is started to drive the slide plate 3112 and the T-shaped slide plate 3113 to descend, which in turn drives the second concave clamping plate 3114 and the second limiting wheel 3115 to move together, fitting the top of the track 2, and the first limiting wheel 318 at the bottom fits with the bottom of the track 2, thereby achieving the function of clamping and adjustment.

[0032] Example 2:

[0033] Based on Embodiment 1, a preferred embodiment of the rail-mounted robot for substation inspection provided by this utility model is, for example... Figure 1-5As shown: The fire extinguishing component 5 specifically includes: an infrared thermal imaging sensor 511, which is fixedly installed at equal intervals on the surface of the robot 4; a controller 512, which is fixedly installed on the surface of the robot 4; a hollow box 513, which is fixedly installed on both sides of the robot 4; a rotating rod 514, which is rotatably connected between the inner walls of the hollow box 513; a mounting plate 518, which is fixedly installed on one side of the inner wall of the hollow box 513; a dry powder storage box 5111, which is fixedly installed between the inner walls of the hollow box 513; and a motor 5114, which is fixedly installed on the inner wall surface of the hollow box 513.

[0034] A worm gear sleeve 515 is fixedly sleeved on the outer wall of the rotating rod 514, a collar 516 is fixedly sleeved on the outer wall of the rotating rod 514, a nozzle 517 is fixedly installed on the outer wall of the collar 516, a miniature high-pressure pump 519 is fixedly installed on the surface of the mounting plate 518, and a connecting pipe 5112 is connected to one side of the miniature high-pressure pump 519.

[0035] One end of the connecting pipe 5112 is connected to one side of the dry powder storage box 5111. The other side of the micro high-pressure pump 519 is connected to the connecting pipe 5113. The other end of the connecting pipe 5113 is connected to the top of the nozzle 517. The output end of the motor 5114 is fixedly installed with a worm gear 5115. The surface of the worm gear 5115 meshes with the surface of the worm wheel sleeve 515.

[0036] In this example, fire extinguishing component 5 can be used to extinguish the fire source. Infrared thermal imaging sensor 511 can clearly capture the location and shape of the heat source. When the set threshold is reached, the information is sent to controller 512. Controller 512 starts micro high-pressure pump 519 and motor 5114. Micro high-pressure pump 519 extracts dry powder from dry powder storage box 5111. Motor 5114 drives worm gear 5115 to rotate, which in turn drives worm wheel sleeve 515, rotating rod 514 and collar 516 to rotate. Finally, it drives nozzle 517 to accurately spray the heat source, thereby achieving the effect of fire extinguishing.

[0037] Working principle: First, when fixing to tracks of different widths, the double-ended motor 313 is started, driving the lead screw 314 to rotate, which in turn moves the T-shaped threaded block 315. The T-shaped threaded block 315 slides within the T-shaped groove 312, causing the grooved plate 316 to fit against both sides of the track 2. When fixing to tracks of different heights, the hydraulic rod 3111 is started, driving the sliding plate 3112 and the T-shaped sliding plate 3113 to move, which in turn moves the concave clamping plate 3114 and the limiting wheel 3115, fitting against the top of the track 2. The bottom limiting wheel 318 fits against the bottom of the track 2. When the equipment catches fire, the infrared thermal imaging sensor 511 can clearly detect the fire. Once the location and shape of the heat source are detected and a set threshold is reached, the information is sent to the controller 512. The controller 512 then activates the micro high-pressure pump 519 and the motor 5114. The micro high-pressure pump 519 extracts dry powder from the dry powder storage bin 5111 and pressurizes the dry powder before spraying it out through the nozzle 517, forming a dry powder cloud that covers the fire source. The dry powder is transported to the nozzle 517 through connecting pipe 1 5112 and connecting pipe 2 5113. The motor 5114 drives the worm gear 5115 to rotate, which in turn drives the worm wheel sleeve 515, rotating rod 514, and collar 516 to rotate, ultimately driving the nozzle 517 to accurately spray the heat source, thereby achieving the functions of clamping, adjusting, and extinguishing the fire.

[0038] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A trolley robot for substation inspection, comprising a support column (1), characterized in that: The support column (1) is two, the track (2) is fixedly installed between the support column (1), the surface of the track (2) is provided with clamping adjusting assembly (3), the surface of the clamping adjusting assembly (3) is provided with robot (4), the surface of the robot (4) is provided with fire extinguishing assembly (5);The clamping adjusting assembly (3) specifically includes: Hollow plate (311) is arranged at the bottom of the track (2); T-shaped groove (312) is equidistantly arranged at the top of the hollow plate (311); Double-end motor (313) is fixedly installed between the inner wall of the hollow plate (311), the bottom of the hollow plate (311) is fixedly connected with the top of the robot (4), the output end of the double-end motor (313) is fixedly installed with a rotating shaft, the other end of the rotating shaft is movably penetrated through the inner wall surface of the hollow plate (311) and extends to the inside of the T-shaped groove (312), the other end of the rotating shaft is fixedly installed with a lead screw (314), the outer wall of the lead screw (314) is threadedly connected with a T-shaped threaded block (315), the outer wall of the T-shaped threaded block (315) is slidably connected with the inner wall of the T-shaped groove (312); The top of the T-shaped threaded block (315) extends to the top of the hollow plate (311), the top of the T-shaped threaded block (315) is fixedly installed with a recessed plate (316), the inner side of the recessed plate (316) is in contact with one side of the track (2), the inner side of the recessed plate (316) is equidistantly and uniformly fixedly installed with a concave clamping plate (317), the inner wall between the concave clamping plate (317) is movably installed with a limiting wheel (318), the surface of the limiting wheel (318) is in contact with the bottom of the track (2); The inner side of the recessed plate (316) is communicated with a sliding groove (319), the inner wall bottom of the recessed plate (316) is fixedly installed with a hydraulic rod (3111), the telescopic end of the hydraulic rod (3111) is fixedly installed with a sliding plate (3112), the outer wall of the sliding plate (3112) is slidably connected with the inner wall of the recessed plate (316), the inner side of the recessed plate (316) is provided with a T-shaped sliding plate (3113), one side of the T-shaped sliding plate (3113) penetrates through the inside of the sliding groove (319) and extends to the inside of the recessed plate (316) and is fixedly connected with one side of the sliding plate (3112), the surface of the T-shaped sliding plate (3113) is slidably connected with the inner wall of the sliding groove (319), the other side of the T-shaped sliding plate (3113) is equidistantly and uniformly fixedly installed with a concave clamping plate (3114), the inner wall between the concave clamping plate (3114) is movably installed with a limiting wheel (3115), the surface of the limiting wheel (3115) is in contact with the top of the track (2).

2. The overhead track robot for substation inspection according to claim 1, wherein: The fire extinguishing assembly (5) specifically includes: Infrared thermal imaging sensor (511) is equidistantly fixedly installed on the surface of the robot (4); Controller (512) is fixedly installed on the surface of the robot (4); Hollow box (513) is fixedly installed on both sides of the robot (4); Rotating rod (514) is rotatably connected between the inner wall of the hollow box (513); The installation plate (518) is fixedly installed on one side of the inner wall of the hollow box (513); The dry powder storage box (5111) is fixedly installed between the inner walls of the hollow box (513); The motor (5114) is fixedly installed on the surface of the inner wall of the hollow box (513).

3. The overhead track robot for substation inspection according to claim 2, wherein: The outer wall of the rotating rod (514) is fixedly sleeved with a worm gear sleeve (515), the outer wall of the rotating rod (514) is fixedly sleeved with a sleeve ring (516), the outer wall of the sleeve ring (516) is fixedly installed with a spray head (517), the surface of the installation plate (518) is fixedly installed with a micro high-pressure pump (519), one side of the micro high-pressure pump (519) is communicated and installed with a connecting pipe one (5112).

4. The overhead track robot for substation inspection according to claim 3, wherein: One end of the connecting pipe one (5112) is communicated with one side of the dry powder storage box (5111), the other side of the micro high-pressure pump (519) is communicated and installed with a connecting pipe two (5113), the other end of the connecting pipe two (5113) is communicated with the top of the spray head (517), the output end of the motor (5114) is fixedly installed with a worm (5115), the surface of the worm (5115) is meshed and connected with the surface of the worm gear sleeve (515).

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